﻿#region Copyright
// Copyright (c) 2011-2012 RaisingForce Team (Alikin Sergey)
//
// Permission is hereby granted, free of charge, to any person
// obtaining a copy of this software and associated documentation
// files (the "Software"), to deal in the Software without
// restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the
// Software is furnished to do so, subject to the following
// conditions:
//
// The above copyright notice and this permission notice shall be
// included in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
// OTHER DEALINGS IN THE SOFTWARE.
#endregion

using System;
using System.Diagnostics.Contracts;
using NKH.MindSqualls;
using RaisingForce.Raise.Hardware.Rules;
using RaisingForce.Raise.Measures;
using RaisingForce.Raise.Hardware.LegoTribot.Properties;

namespace RaisingForce.Raise.Hardware.LegoTribot
{
    sealed internal class LegoTribotSensor :
        RobotSensor
    {
        #region Constructors

        public LegoTribotSensor(
            object hardwareSyncObject,
            object robotSyncObject,
            NxtUltrasonicSensor ultrasonicSensor,
            Distance obstacleDistance)
            : base(hardwareSyncObject)
        {
            Contract.Requires(hardwareSyncObject != null);
            Contract.Requires(robotSyncObject != null);
            Contract.Requires(ultrasonicSensor != null);
            Contract.Requires(RobotHardwareOptionsRules.DistanceIsValid(obstacleDistance));
            this.ultrasonicSensor = ultrasonicSensor;
            this.obstacleDistance = obstacleDistance;
            this.robotSyncObject = robotSyncObject;
        }

        #endregion

        #region Private Declarations

        private readonly NxtUltrasonicSensor ultrasonicSensor;

        private readonly Distance obstacleDistance;

        private readonly object robotSyncObject;

        #endregion

        #region Base Overrides

        protected override Distance DetectObstacleHardware()
        {
            try
            {
                lock (this.robotSyncObject)
                {
                    this.ultrasonicSensor.Poll();
                }
            }
            catch (Exception ex)
            {
                throw new RobotHardwareException(
                    RobotHardwareFailureReason.Hardware,
                    Resources.Exception_ObstacleDetectionError,
                    innerException: ex);
            }
            byte? polledDistanceInCm = this.ultrasonicSensor.DistanceCm;
            if (!polledDistanceInCm.HasValue)
            {
                return Distance.Unknown;
            }
            Distance polledDistance =
                Distance.DefineInCentimetre(polledDistanceInCm.Value);
            return polledDistance <= obstacleDistance ?
                polledDistance :
                Distance.Unknown;
        }

        #endregion
    }
}
